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Intelligent Navigation System Which Autonomously Selects Landmarks along Route

Research Project

Project/Area Number 02555069
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 情報工学
Research InstitutionOsaka University

Principal Investigator

TSUJI Saburo  Osaka Univ., Faculty of Engineering Science, Professor, 基礎工学部, 教授 (60029527)

Co-Investigator(Kenkyū-buntansha) YAGI Yasushi  Osaka Univ., Faculty of Engineering Science, Research Associate, 基礎工学部, 助手 (60231643)
YAMADA Seiji  Osaka Univ., Institute of Sci. & Ind. Research, Assistant Professor, 産業科学研究所, 講師 (50220380)
IMAI Masakazu  Osaka Univ., Faculty of Engineering Science, Assistant Professor, 基礎工学部, 講師 (60193653)
YACHIDA Masahiko  Osaka Univ., Faculty of Engineering Science, Professor, 基礎工学部, 教授 (20029531)
ASADA Minoru  Osaka Univ., Faculty of Engineering, Associate Professor, 工学部, 助教授 (60151031)
Project Period (FY) 1990 – 1992
Project Status Completed (Fiscal Year 1992)
Budget Amount *help
¥13,000,000 (Direct Cost: ¥13,000,000)
Fiscal Year 1992: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1991: ¥5,100,000 (Direct Cost: ¥5,100,000)
Fiscal Year 1990: ¥6,700,000 (Direct Cost: ¥6,700,000)
KeywordsAutonomous Robot / Dynamic Image / Range Image / Representation of Environment / Cognitive Map / Panoramic Representation / 人工知能 / 全方位ビジョン
Research Abstract

A human can memorize selected patterns of route scenes as landmarks which guide him/her to move around the environment. This project builds an intelligent robot with such intelligence in order to develop the technology for understanding of the environment by computer.
[1 Panoramic Representation
A robot continuously takes images by a TV camera while it moves along a route and arranges the slit image of consecutive frames into a panoramic view of scenes along the route. Ranges to feature points are estimated from their image velocities and we integrate the panoramic view with the ranges into a panoramic representation, a 2(1/2)D representation of the scenes along the robot route.
[2 Selection of Landmarks
In order to find suitable landmarks for guiding the navigation, the structures of the route scenes are found by analyzing the panoramic representation. Feature points above the ground are separated from those on or below the ground from 3D information, and then, they are segmented into each object by a simple cluster analysis. By integrating the color patches in the panoramic view with these range patches, we determine each object in the scenes. The results are represented by a structure map which provides the object arrangement and object features. A method for selecting the suitable landmarks is proposed which uses distances of the object from the path and differences of features as a measure. Experiments results show the landmarks are useful to guide the navigation.
[3 Building of Robot and Experimental Results.
A robot with multiple cameras is built to take the panoramic view by one camera while following the road edges by other cameras. Experimental results show the proposed method is robust for guiding the robot from changes in the actual robot path and illumination conditions.

Report

(4 results)
  • 1992 Annual Research Report   Final Research Report Summary
  • 1991 Annual Research Report
  • 1990 Annual Research Report
  • Research Products

    (43 results)

All Other

All Publications (43 results)

  • [Publications] Jiang Yu Zheng: "Panoramic representation for route recognition by a mobile robot" International Journal of Computer Vision. 9. 55-76 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Shigang Li: "Selecting distinctive features for landmarks" Proc.IEEE International Conference on Robotics & Automation. 1. 53-59 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Shigang Li: "Finding landmarks automously aong a route" Proc.11th International Conference on Pattern Recognition. 1. 316-319 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Shigang Li: "Finding of 3D structure by an active-vision-basedmobile robot" Proc.IEEE International Conference on Robotics and Automation. 2. 1812-1817 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 李 仕剛: "パノラマ表現内の3次元物体による経路シーンの記述" 電子情報通信学会論文誌.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 辻 三郎: "環境のパノラマ表現" 電子情報通信学会誌. 74. 354-359 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Saburo TSUJI: "H.Bunke(ed):Advances in Structural and Syntactic Pattern Recognition" World Scientific, (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Zheng, J. Y. and Tsuji, S.: "Panoramic representation of scenes for route understanding" Proc. 10th Int. Conf. Patt. Recog.161-167 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Tsuji, S. and Zheng, J. Y.: "Qualitative representation of scenes along a route" Proc. AAAI Workshop on Qualitative Vision. 67-71 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Ishiguro, H., Yamamoto, M. and Tsuji, S.: "Omni-directional stereo for making global map" Proc. 3rd Int. Conf. Comput. Vis.540-547 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Zheng, J. Y., Barth, M. and Tsuji, S.: "Qualitative route scene description using autonomous landmark detection" Proc. 3rd Int. Conf. Comput. Vis.558-562 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Li, S., Tsuji, S. and Imai, M.: "Determining of camera rotation from vanishing points of lines on horizontal planes" Proc. 3rd Int. Conf. Comput. Vis.499-502 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Zheng, J. Y., Barth, M. and Tsuji, S.: "Autonomous landmark selection for route recognition by a mobile robot" Proc. IEEE Int. Conf. Robotics & Automation. 2004-2009 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Barth, M., Ishiguro, H. and Tsuji, S.: "Computationally inexpensive egomotion determination for a mobile robot using an active camera" Proc. IEEE Int. Conf. Robotics & Automation. 2792-2797 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Stelmaszyk, P., Ishiguro H. and Tsuji, S.: "Mobile robot navigation by an active control of the vision system" IJCAI-91. 1241-1246 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Barth, M., Ishiguro, H. and Tsuji, S.: "Determining robot egomotion from motion parallax observed by an active camera" IJCAI-91. 1247-1253 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Ishiguro, H., Yamamoto, M. and Tsuji, S.: "Omni-directional stereo" IEEE Trans. Patt. Anal. Machine Intell.14, No.2. 257-262 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Li, S. and Tsuji, S.: "Selecting distinctive features for landmarks" Proc. IEEE Int. Conf. Robotics & Automation. 53-59 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Li, S. and Tsuji, S.: "Finding landmarks autonomously along a route" Proc. 11th Int. Conf. Patt. Recog.A316-319 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] heng, J. Y. and Tsuji S.: "Panoramic representation for route recognition by a mobile robot" Int. J. Computer Vision. 9, No.1. 55-76 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Barth, M. and Tsuji, S.: "Egomotion determination through an intelligent gaze control strategy" IEEE Trans. Sys. Man & Cybern.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Yagi, Y., Kawato, S. and Tsuji, S.: "Omnidirectional image sensor (COPIS) for vision-guided navigation" IEEE Trans. Sys. Man & Automation.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Tsuji, S. and Li, S.: "Memorizing and representing route scenes" Proc. Int. Conf. Simulation of Adaptive Behaviors.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Ishiguro, H., Kato, K. and Tsuji, S.: "Multiple vision agents navigating a mobile robot in a real world" Proc. IEEE Int. Conf. Robotics & Automation.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Tsuji, S. and Li, S.: "Making cognitive map of outdoor environment" IJCAI-93.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Jiang Yu Zheng: "Panoramic representation for route recognition by a mobile robot" International Journal of Computer Vision. 9. 55-76 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] Shigang Li: "Selecting distinctive features for landmarks" Proc,IEEE International Conference on Robotics & Automation. 1. 53-59 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] Shigang Li: "Finding landmarks automously along a route" Proc.11th International Conference on Pattern Recognition. 1. 316-319 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] Shigang Li: "Finding of 3D structure by an active-vision-basedmobile robot" Proc.IEEE International Conference on Robotics and Automation. 2. 1812-1817 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 李 仕剛: "パノラマ表現内の3次元物体による経路シーンの記述" 電子情報通信学会論文誌.

    • Related Report
      1992 Annual Research Report
  • [Publications] Saburo Tsuji: "H.Bunke(ed):Advances in Structural and Syntactic Pattern Recognition" World Scientific, (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] 辻 三郎: "環境のパノラマ表現" 電子情報通信学会誌. 74. 354-359 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] 石黒 浩: "注視制御による局所地図の獲得" 電子情報通信学会論文誌. I74-D-II. 926-932 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Patrick Stelmaszyk: "Mobile robot navigation by an active control of the vision system" Proceedings of 12th International Conference on Artificial Intelligence. 2. 1241-1246 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Mathew Barth: "Determining robot egomotion from motion parallax observed by an active camera" Proceedings of 12th International Conference on Artificial Intelligence. 2. 1247-1253 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Shigang Li: "Realizing active vision by a mobile robot" Proceedings of IEEE Workshop on Visual Motion. 205-210 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Shigang Li: "Selocting distinctive scene features for landmarks" Proceedings of IEEE International Conference on Robotics and Automation. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 李 仕剛: "移動カメラで連続撮像した綜による環境の3次元構造の決定" 電子情報通信学会論文誌. J74ーDII. 175-183 (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] M.Asada: "Representing global world of a mobile robot with relational local maps" IEEE Transactions on Systems,Man and Cybernetics. 20. 1456-1461 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 辻 三郎: "知的ロボティックスの幾つかの問題" 日本ロボット学会誌. 9. 79-84 (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] 辻 三郎: "環境のパノラマ表現" 電子情報通信学会誌. 74. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] J.Y.Zheng: "Panoramic representation of scenes for route understanding" Proceedings of 10th International Conference on Pattern Recognition. 161-167 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] J.Y.Zheng: "Qualitative route scene description using autonomous landmark detection" Proceedings of 3rd International Conference on Computer Vision. 558-562 (1990)

    • Related Report
      1990 Annual Research Report

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Published: 1990-04-01   Modified: 2016-04-21  

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